Differential Dynamic Programming for Multi-Phase Rigid Contact Dynamics

Abstract

A common strategy today to generate efficient locomotion movements is to split the problem into two consecutive steps: the first one generates the contact sequence together with the centroidal trajectory, while the second one computes the whole-body trajectory that follows the centroidal pattern. Yet the second step is generally handled by a simple program such as an inverse kinematics solver. In contrast, we propose to compute the whole-body trajectory by using a local optimal control solver, namely Differential Dynamic Programming (DDP). Our method produces more efficient motions, with lower forces and smaller impacts, by exploiting the Angular Momentum (AM). With this aim, we propose an original DDP formulation exploiting the Karush-Kuhn-Tucker constraint of the rigid contact model. We experimentally show the importance of this approach by executing large steps walking on the real HRP-2 robot, and by solving the problem of attitude control under the absence of external forces.

6 pages, IEEE RAS International Conference on Humanoid Robots

References in corpus (4)

• Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds
• Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping and Whole-Body Control
• Simultaneous Contact, Gait and Motion Planning for Robust Multi-Legged Locomotion via Mixed-Integer Convex Optimization
• Planning and Execution of Dynamic Whole-Body Locomotion for a Hydraulic Quadruped on Challenging Terrain

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• Efficient Reinforcement Learning for Jumping Monopods
• Full-Body Torque-Level Non-linear Model Predictive Control for Aerial Manipulation
• Design, analysis and control of the series-parallel hybrid RH5 humanoid robot
• Hybrid Systems Differential Dynamic Programming for Whole-Body Motion Planning of Legged Robots
• Accelerated ADMM based Trajectory Optimization for Legged Locomotion with Coupled Rigid Body Dynamics
• Variable Autonomy of Whole-body Control for Inspection and Intervention in Industrial Environments using Legged Robots